Boolean Difference with Offset?
Make a duplicate of your object and add a Displacement modifier without any textures.

Unlike scaling (which is shape agnostic) it will give you a true uniform offset all around your object based on mesh normals.

Optionally make this object Display As: Wire, and parent it to the original object.
Now make the Boolean operation on the offset mesh rather than the original one.

When moving the original object around, the offset one will move along with it because it is parented



You can independently control offset amount from the Displacement modifier Strength setting.